Development and Motion Control of Biomimetic Underwater Robots: A Survey

doi:10.1109/TSMC.2020.3004862

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Development and Motion Control of Biomimetic Underwater Robots: A Survey
	Wang, Rui 3; Wang, Shuo 1,2,3; Wang, Yu 3; Cheng, Long 1,3; Tan, Min 1,3
刊名	IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
	2022-02-01
卷号	52 期号:2 页码:833-844
关键词	Unmanned underwater vehicles Robots Propulsion Motion control Prototypes Turning Biomimetic underwater robots motion control system development undulatory propulsion
ISSN号	2168-2216
DOI	10.1109/TSMC.2020.3004862
通讯作者	Wang, Shuo(shuo.wang@ia.ac.cn)
英文摘要	Biomimetic underwater robots have attracted considerable research attention globally, owing to their quieter actuations, higher propulsion efficiency, and stronger maneuverability when compared with conventional underwater vehicles equipped with axial propellers. This article provides a comprehensive survey of current research in this field. First, we review the development status of biomimetic underwater robots in both body/caudal fin (BCF), median/paired fin (MPF), and their hybrid propulsion modes. Then, we outline the motion control methods employed in biomimetic underwater robots, including open-loop swimming control and typical closed-loop control strategies. In particular, we detail our latest studies on the RobCutt series underwater robots. On this basis, some critical issues and future directions are summarized. We predict that biomimetic underwater robots will have excellent prospects in underwater environment exploration and resource utilization.
资助项目	National Natural Science Foundation of China[U1713222] ; National Natural Science Foundation of China[U1806204] ; Youth Innovation Promotion Association of CAS[2020137]
WOS关键词	DEPTH CONTROL ; SWIMMING CONTROL ; SPEED CONTROL ; FISH ; DESIGN ; TRACKING ; MANEUVERS ; VEHICLE
WOS研究方向	Automation & Control Systems ; Computer Science
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000742732900021
资助机构	National Natural Science Foundation of China ; Youth Innovation Promotion Association of CAS
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/47903]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Wang, Shuo
作者单位	1.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, CAS Ctr Excellence Brain Sci & Intelligence Techn, Shanghai 200031, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Wang, Rui,Wang, Shuo,Wang, Yu,et al. Development and Motion Control of Biomimetic Underwater Robots: A Survey[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2022,52(2):833-844.
APA	Wang, Rui,Wang, Shuo,Wang, Yu,Cheng, Long,&Tan, Min.(2022).Development and Motion Control of Biomimetic Underwater Robots: A Survey.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,52(2),833-844.
MLA	Wang, Rui,et al."Development and Motion Control of Biomimetic Underwater Robots: A Survey".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 52.2(2022):833-844.